CN117831259A - Infrared remote control lifting multifunctional intelligent integrated maintenance tool and control method - Google Patents
Infrared remote control lifting multifunctional intelligent integrated maintenance tool and control method Download PDFInfo
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Abstract
The invention belongs to the technical field of equipment maintenance and discloses an infrared remote control lifting multifunctional intelligent integrated maintenance tool and a control method. The tool comprises a main body structure, a remote control end and a software module; the main body structure consists of a microcontroller, a sensor, an actuating mechanism and a communication module, and can send instructions to the main body structure through a remote control end to carry out inspection, maintenance and debugging operations on the machine equipment; the software module comprises a control software module and an image processing software module, the control software module performs debugging, configuration and upgrading operations on the main structure, the image processing software module processes the image acquired in the inspection process, and the fault cause of the equipment is analyzed. The tool adopts a far infrared remote control technology to realize non-contact control of equipment, has the advantages of high efficiency, accuracy, safety, convenience and the like, and is suitable for equipment maintenance in various fields.
Description
Technical Field
The invention belongs to the technical field of equipment maintenance, and particularly relates to an infrared remote control lifting multifunctional intelligent integrated maintenance tool and a control method.
Background
As people demand more and more machine equipment, the kinds of the machine equipment are more and more, and once the equipment fails, no small loss is brought to enterprises. Conventional machine equipment maintenance methods generally require technicians to physically visit the site for operation, however, such methods require significant time and effort and present safety hazards.
Most of the existing maintenance tools on the market mainly depend on manpower, and the price of the precise instrument is too high, for example: dongles, robots, etc. The tool is arranged between the two, the price is lower than that of a precise instrument under the condition of reducing the labor cost, the safety is greatly ensured, and the main application scene is high-place operation. And the material used for packaging the tool is prepared by lightweight materials, so that the problem that the tool is difficult to move back and forth is avoided.
Through the above analysis, the problems and defects existing in the prior art are as follows: under certain special conditions, the original traditional maintenance tool is not suitable for high altitude, narrow terrains and the like any more, and the tools such as a common screwdriver, a spanner and the like have short use distance and are laborious to operate. Moreover, the prior art can not carry out maintenance work in a long distance, and has high labor cost and poor safety.
Disclosure of Invention
In order to overcome the problems in the related art, the embodiment of the invention discloses an infrared remote control lifting multifunctional intelligent integrated maintenance tool and a control method. In particular to an infrared remote control lifting multifunctional intelligent integrated maintenance tool. The present invention aims to solve complex environments such as: the maintenance construction problems of high altitude, narrow topography and other positions provide long-distance operation support through infrared remote control, rocking bars and the like.
The technical scheme is as follows: an infrared remote control liftable multifunctional intelligent integrated maintenance tool, which comprises:
the main body structure is provided with a sensor and an executing mechanism, the state information of equipment to be maintained is detected through the sensor, and is sent to a core controller of a remote control end through a receiving network and infrared signals, and the core controller sends out an operation instruction according to the state of the equipment to be maintained, and the executing mechanism is regulated and controlled to perform corresponding operation;
the remote control end sends an instruction to the main body structure to realize the inspection, maintenance and debugging operation of the execution structure of the main body structure;
the software module comprises a control software module and an image processing software module, and the main structure is debugged, configured and upgraded through the control software module; and processing the image acquired in the inspection process by an image processing software module, and analyzing the fault cause of the equipment.
Further, the sensor adopts an infrared sensor to realize distance measurement.
Further, the actuator includes: the device comprises a bracket, an electric mechanical arm, an electric tool head, a miniature camera, a motor and a counterweight;
the bracket is used for providing stable supporting force;
the electric mechanical arm adopts a motor driving mode and performs forward, backward, ascending and descending actions through instructions transmitted by the core controller;
the electric tool head adopts a motor driving mode, and rotates, advances and rotates through instructions transmitted by the core controller;
the miniature camera is connected with the central control screen to display real-time pictures of the electric tool head;
the motor drives the electric mechanical arm and the electric tool head to work through electric drive;
the counterweight is arranged on one side of the bracket connected with the electric mechanical arm and used for balancing the tilting force generated by the operation action of the electric mechanical arm.
Further, the electric mechanical arm adopts a multi-section universal structure, and motors are arranged at the positions of all joints on the electric mechanical arm so as to realize the operation of different actions of all joints on the electric mechanical arm;
the electric mechanical arm adsorbs screws from the detachable replacement net bag downwards through bending; the detachable replacement net bag is connected to a joint on the electric mechanical arm;
the actuating mechanism drives the motor to drive the electric mechanical arm or the electric tool head to operate according to the operating instruction received by the core controller from the touch control panel or the infrared remote control, rotates the screw to disassemble the machine, swings up and down to open the package, and uses the wrench to perform circular motion.
Further, the executing mechanism is also provided with an infrared correlation positioner which is paired with the detachable replacement net bag, the infrared correlation positioner provides position information, the lower detachable replacement net bag automatically rotates according to the position information provided by the infrared correlation positioner, and the center of the detachable replacement net bag is always consistent with the position of the infrared correlation positioner through writing the executing logic of the core controller in advance; the automatic rotation comprises tightening or removing a screw;
the actuating mechanism adopts a plastic handle, a plastic extension rod and an iron tool head combination.
Further, the core controller includes: the system comprises a main board, a programmable singlechip, a network card, a communication module, various communication interfaces and a display screen;
the main board is used for connecting various electronic elements to realize the operation of the core controller;
the programmable singlechip is used for core control, and controls the motor and the external device to execute corresponding actions through data transmission instructions after programming and burning;
the network card is used for controlling the programmable singlechip to send out instructions by receiving network signals;
the communication module is used for controlling the programmable singlechip to send out instructions through a receiving network and infrared signals;
the various communication interfaces are used for firmware upgrade and interaction with external machines;
the display screen displays pictures through the video interface, and the operation instruction visualizes information;
a button with an operation instruction on a display screen of the core controller performs appointed actions of the electric mechanical arm and the electric tool head through touching; the remote control end adopts an infrared remote controller.
Further, the method for sending out an operation instruction by the core controller according to the state of the equipment to be maintained and regulating and controlling the execution mechanism to perform corresponding operation comprises the following steps:
step 1, each electric mechanical arm or electric tool head of the executing mechanism can be regarded as an intelligent control unit with actual judging capability in a control mode, and each electric mechanical arm or electric tool head of the executing mechanism is regarded as a single operation body model, so that nodes for a multi-intelligent control unit system are formedIndicate->The intelligent control unit has the kinematic equation:
；
；
；
；
in the method, in the process of the invention,for node->Is (are) displacement (are)>For node->Is->Force of matching under displacement, ++>For node->Wherein the geometric features include size, type, shape; />For node->In a certain movement state +.>Force of displacement matching, < >>For node->At->Displacement values matched under force +.>For node->-1 rotational displacement distance of adjacent electromechanical arms or electric tool heads coupled by a universal structure, +.>For the rotational displacement distance of adjacent electromechanical arms or power tool heads coupled by a universal structure, the rotational displacement distance is a linear function with respect to the relative displacement, +.>Is the radius of the universal structure, and the radial direction of the universal structure is the radius of the universal structure,for the reactive torque force to which the electric mechanical arm or the electric tool head is subjected during operation, +.>Is of elastic coefficient->For node->Is in a certain state of motion, +.>For node->Displacement of +1 in a certain motion state, +.>The basic reactive torque force is a unit basic reactive torque force, and comprises a fault reactive torque force of equipment and a normal dismounting reactive torque force of the equipment; />Is an electromechanical armOr a constant related to the power tool head profile, < >>The force is the force of the motion state of the electric mechanical arm or the electric tool head;
step 2, selecting a first section of electric mechanical arm or electric tool head as a reference point, and obtaining a system correction equation from a motion equation, wherein the expression is as follows:
；
in the method, in the process of the invention,for a certain node->Deviation correcting displacement->For a certain node->Force after correction->Is the node ∈after correction>At the position ofDisplacement values matched under force +.>For the displacement of the node j in a certain movement state after correction, < >>For correcting the error of the node->Is->Force of matching under displacement, ++>The force is the force of the motion state of a current certain type r electric mechanical arm or electric tool head; />For adjacency matrix->For representing the node->And node->Intensity of the association between the two matrices +.>Develop->The set of edges formed by the middle node pairs represents the adjacent relation among the intelligent control units and describes the information interaction contact network among the intelligent control units;
step 3, designing a consistency deviation rectifying and tracking control law, wherein the expression is as follows:
；
in the method, in the process of the invention,is the node ∈after correction>At->Displacement values matched under force +.>Is->Information exchange between displacement information of the jointed electromechanical arm or the electric tool head and ideal displacement, +.>For the displacement of the current motion state of a certain type r of electric mechanical arm or electric tool head, +.>For the control parameters to be designed, < >>Is->Information exchange between the force information of the motor-driven mechanical arm or the electric tool head and the ideal force, and +.>To represent node +.>And node->Joint strength in the exchange of strength information between +.>For node->Is->The matching force under displacement;
to ensure that the displacement and force of the electromechanical arm or the power tool head can track the ideal motion state, when the node is blocked by displacement feedback control +.>Otherwise->The method comprises the steps of carrying out a first treatment on the surface of the When node->When being blocked by force feedback controlOtherwise->；
Step 4, for the control input:
；
in the method, in the process of the invention,for node->At->Tracking displacement value matched under force, +.>The instant force for the motion state of a certain type r electric mechanical arm or electric tool head;
in the step 2, the specific process of obtaining the system deviation correcting equation from the motion equation is as follows:
(1) When the electric mechanical arm or the electric tool head works, the universal structure between the electric mechanical arms or the electric tool heads of the actuating mechanism is in a natural state, and the operation distance between two adjacent sections of electric mechanical arms or electric tool heads is as follows:for +.>The positions of the section electric mechanical arm or the electric tool head are as follows:
；
in the method, in the process of the invention,is ideal displacement;
(2) The equation of motion is rewritten as:
；
(3) If the system reaches an equilibrium state, ideal tracking displacement force of each electric mechanical arm or electric tool head of the actuating mechanism is as follows:and the reducing force of each electric mechanical arm or electric tool head of the executing mechanism is as follows: />The method comprises the steps of carrying out a first treatment on the surface of the Adjacent two sections of electric mechanical arms or electric tool heads>And->The operating distance between them is->The method comprises the following steps: />Wherein->Is the position at equilibrium, at which time the control input to the system:
；
(4) Expanding the equation at the equilibrium point, the linearized system equation can be obtained as:
；
(5) Defining deviation correction, wherein the expression is as follows:
；
；
。
another object of the present invention is to provide a control method for controlling the infrared remote control liftable multifunctional intelligent integrated maintenance tool, the control method comprising:
s1, making inspection, maintenance and debugging operation flows and instructions;
s2, inputting relevant information into a remote control end, and sending a remote control instruction to a main body structure;
s3, the main body structure receives the instruction and performs corresponding operation;
s4, data transmission is carried out through the remote control end and the main body structure, and inspection, maintenance and debugging operations are completed.
Further, the main body structure is in seamless connection with the robot and the Internet of things equipment, so that automatic inspection and maintenance of the machine equipment are completed.
By combining all the technical schemes, the invention has the advantages and positive effects that: the invention relates to an infrared remote control lifting multifunctional intelligent integrated maintenance tool. The maintenance work under special situations such as high altitude can be carried out in an infrared remote control mode.
The invention relates to an infrared remote control multifunctional intelligent maintenance tool which can realize the operations of inspection, maintenance, debugging, optimization and the like of complex machine equipment in a remote control mode. The tool adopts a far infrared remote control technology to realize non-contact control of equipment, has the advantages of high efficiency, accuracy, safety, convenience and the like, and is suitable for equipment maintenance in various fields. The invention can be used for maintenance work in a long distance, thereby greatly reducing the labor cost and the risk coefficient.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure;
FIG. 1 is a schematic diagram of an infrared remote control liftable multifunctional intelligent integrated maintenance tool provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of an actuator according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a core controller according to an embodiment of the present invention;
FIG. 4 is a flowchart of a control method of an infrared remote control liftable multifunctional intelligent integrated maintenance tool provided by an embodiment of the invention;
in the figure: 1. a main body structure; 101. a sensor; 102. an actuator; 1021. a bracket; 1022. an electromechanical arm; 1023. an electric tool head; 1024. a miniature camera; 1025. a motor; 1026. the detachable replacement net bag; 1027. an infrared correlation locator; 1028. a counterweight;
2. a remote control end; 201. a core controller; 2011. a main board; 2012. a programmable singlechip; 2013. a network card; 2014. a communication module; 2015. a plurality of communication interfaces; 2016. a display screen;
3. a software module; 301. a control software module; 302. and an image processing software module.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
The infrared remote control liftable multifunctional intelligent integrated maintenance tool and method provided by the embodiment of the invention have the innovation points that:
the multifunctional maintenance tool with remote control infrared sensing function utilizes the mature internet of things technology, has a light machine body, and can reduce potential safety hazards according to ergonomic design.
Furthermore, the invention adopts far infrared remote control technology to realize non-contact control of the machine equipment, thereby effectively reducing physical contact between maintenance personnel and the machine equipment and avoiding potential safety hazard. Meanwhile, the invention adopts various sensors, executing mechanisms and the like, can realize the operations of inspection, maintenance, debugging and the like of various complex machine equipment, meets the maintenance requirements of equipment in different fields, monitors in real time when a camera is installed on the head for installation, and realizes the functions of hand-holding and remote control by using network intelligent control and infrared control.
The invention uses remote control to save manpower cost, the used technology comprises infrared remote sensing, network control and other functions, and the tool has telescopic and detachable functions, can replace the tool head at any time and any place, more comprehensively covers the non-feasible use scene, adopts electric drive to drive the power of the tool, reduces the manpower use, and can improve the safety under special operation conditions. The tool includes a body structure, a remote control end, and a software module.
Embodiment 1 as shown in fig. 1, an infrared remote control liftable multifunctional intelligent integrated maintenance tool provided by the embodiment of the invention comprises:
the main structure 1 comprises a sensor 101 and an actuating mechanism 102, and is used for detecting the state information of equipment to be maintained through the sensor, and sending a core controller 201 of the remote control end 2 through a receiving network and infrared signals, wherein the core controller 201 sends out an operation instruction according to the state of the equipment to be maintained, and regulates and controls the actuating mechanism 102 to perform corresponding operation;
the remote control end 2 is used for sending an instruction to the main body structure 1 and carrying out inspection, maintenance and debugging operations on the execution structure machine equipment of the main body structure 1;
the software module 3 comprises a control software module 301 and an image processing software module 302, and the main structure 1 is subjected to debugging, configuration and upgrading operations through the control software module 301; the image processing software module 302 processes the image collected in the inspection process, and analyzes the fault cause of the equipment.
In the embodiment of the invention, the sensor 101 adopts a mode of combining various sensors, wherein an infrared sensor is taken as a core, and the tool is controlled to mechanically move through a received infrared instruction, so that the purpose of maintaining the tool is achieved, and the sensor can be used for realizing other functions such as distance measurement and the like through infrared induction.
As shown in fig. 2, the actuator 102 includes: a bracket 1021, an electric mechanical arm 1022, an electric tool head 1023, a miniature camera 1024, a motor 1025 and a counterweight 1028;
the bracket 1021 is used for providing stable supporting force;
the electric mechanical arm 1022 performs forward, backward, upward and downward actions by adopting a motor driving mode through instructions transmitted by the core controller;
the electric tool head 1023 adopts a motor driving mode, and rotates, advances and rotates through instructions transmitted by the core controller;
the miniature camera 1024 displays real-time pictures of the electric tool head through the connecting central control screen; the operation is convenient and accurate; can be observed on a display screen of a remote control end to take the correct screw.
The motor 1025 is used for driving the electric mechanical arm and the electric tool head to work through electric driving.
The counterweight 1028 is installed on one side of the connection between the bracket 1021 and the electric mechanical arm 1022, and is used for balancing the tilting force generated by the operation action of the electric mechanical arm 1022;
in the embodiment of the invention, an electric mechanical arm 1022 of the executing mechanism adopts a multi-section universal structure, and a motor 1025 is arranged at each joint position on the electric mechanical arm 1022 so as to realize the operation of different actions of each joint on the electric mechanical arm 1022;
the electromechanical arm 1022 attracts the screw downward from the removable replacement string bag 1026 by bending; the removable replacement net 1026) is connected to a joint on the electromechanical arm 1022;
the actuator 102 drives the motor 1025 to drive the electric mechanical arm 1022 or the electric tool head 1023 to operate according to the operation command received from the touch pad or the infrared remote control by the core controller 201, rotates the screw to disassemble the machine, swings up and down to open the package, and uses the wrench to perform circular motion.
In the embodiment of the present invention, the executing mechanism 102 is further provided with an infrared correlation locator 1027 paired with the detachable replacement string bag 1026, the infrared correlation locator 1027 provides position information, so that the lower detachable replacement string bag 1026 automatically rotates according to the position information provided by the infrared correlation locator 1027, and the center of the detachable replacement string bag 1026 always coincides with the position of the infrared correlation locator 1027 by writing in the executing logic of the core controller 201 in advance; the automatic rotation includes tightening or removing a screw.
In an embodiment of the present invention, the actuator 102 is a plastic handle, plastic extension rod, iron tool head combination. The plastic handle can better control the tool, and the plastic extension rod moves up and down through the motor.
As shown in fig. 3, the core controller 201 includes: a main board 2011, a programmable singlechip 2012, a network card 2013, a communication module 2014, various communication interfaces 2015 and a display 2016;
the main board 2011 is used for connecting various electronic components to realize the operation of the core controller;
the programmable singlechip 2012 is used for core control, and controls the motor and the external device to execute corresponding actions through data transmission instructions after programming and burning;
the network card 2013 is used for controlling the programmable singlechip to send out instructions by receiving network signals;
the communication module 2014 is used for controlling the programmable singlechip to send out instructions through a receiving network and infrared signals;
a variety of communication interfaces 2015 for firmware upgrades and interacting with external machines;
the display 2016 displays a screen through a video interface, and the operation instructions visualize information.
In the embodiment of the present invention, the buttons with operation instructions on the display screen 2016 of the core controller 201 perform the specified actions of the electric mechanical arm 1022 and the electric tool head 1023 by touching; the remote control end adopts an infrared remote controller. Can realize more convenient maintenance operation, improve maintenance efficiency.
In this embodiment of the present invention, the method for the core controller 201 to send an operation instruction according to the state of the device to be repaired and regulate the execution mechanism 102 to perform the corresponding operation includes:
step 1, each electric mechanical arm or electric tool head of the executing mechanism can be regarded as an intelligent control unit with actual judging capability in a control mode, and each electric mechanical arm or electric tool head of the executing mechanism is regarded as a single operation body model, so that nodes for a multi-intelligent control unit system are formedIndicate->The intelligent control unit has the kinematic equation:
；
；
；
；
in the method, in the process of the invention,for node->Is (are) displacement (are)>For node->Is->Force of matching under displacement, ++>For node->Wherein the geometric features include size, type, shape; />For node->In a certain movement state +.>Force of displacement matching, < >>For node->At->Displacement values matched under force +.>For node->-1 adjacent electromechanical arms or electric tools coupled by a universal structureRotational displacement distance of head->For the rotational displacement distance of adjacent electromechanical arms or power tool heads coupled by a universal structure, the rotational displacement distance is a linear function with respect to the relative displacement, +.>Is the radius of the universal structure, and the radial direction of the universal structure is the radius of the universal structure,for the reactive torque force to which the electric mechanical arm or the electric tool head is subjected during operation, +.>Is of elastic coefficient->For node->Is in a certain state of motion, +.>For node->Displacement of +1 in a certain motion state, +.>The basic reactive torque force is a unit basic reactive torque force, and comprises a fault reactive torque force of equipment and a normal dismounting reactive torque force of the equipment; />For constants related to the electric mechanical arm or the electric tool head section bar, < >>The force is the force of the motion state of the electric mechanical arm or the electric tool head;
step 2, selecting a first section of electric mechanical arm or electric tool head as a reference point, and obtaining a system correction equation from a motion equation, wherein the expression is as follows:
；
in the method, in the process of the invention,for a certain node->Deviation correcting displacement->For a certain node->Force after correction->Is the node ∈after correction>At the position ofDisplacement values matched under force +.>For the displacement of the node j in a certain movement state after correction, < >>For correcting the error of the node->Is->Force of matching under displacement, ++>The force is the force of the motion state of a current certain type r electric mechanical arm or electric tool head; />For adjacency matrix->For representing the node->And node->Intensity of the association between the two matrices +.>Develop->The set of edges formed by the middle node pairs represents the adjacent relation among the intelligent control units and describes the information interaction contact network among the intelligent control units;
step 3, designing a consistency deviation rectifying and tracking control law, wherein the expression is as follows:
；
in the method, in the process of the invention,is the node ∈after correction>At->Displacement values matched under force +.>Is->Information exchange between displacement information of the jointed electromechanical arm or the electric tool head and ideal displacement, +.>For the displacement of the current motion state of a certain type r of electric mechanical arm or electric tool head, +.>For the control parameters to be designed, < >>Is->Information exchange between the force information of the motor-driven mechanical arm or the electric tool head and the ideal force, and +.>To represent node +.>And node->Joint strength in the exchange of strength information between +.>For node->Is->The matching force under displacement;
to ensure that the displacement and force of the electromechanical arm or the power tool head can track the ideal motion state, when the node is blocked by displacement feedback control +.>Otherwise->The method comprises the steps of carrying out a first treatment on the surface of the When node->When being blocked by force feedback controlOtherwise->；
Step 4, for the control input:
；
in the method, in the process of the invention,for node->At->Tracking displacement value matched under force, +.>The instant force for the motion state of a certain type r electric mechanical arm or electric tool head;
in the embodiment of the present invention, the specific process of step 2 is:
(1) When the electric mechanical arm or the electric tool head works, the universal structure between the electric mechanical arms or the electric tool heads of the actuating mechanism is in a natural state, and the operation distance between two adjacent sections of electric mechanical arms or electric tool heads is as follows:for +.>The positions of the section electric mechanical arm or the electric tool head are as follows:
；
in the method, in the process of the invention,is ideal displacement;
(2) The equation of motion is rewritten as:
；
(3) If the system reaches an equilibrium state, ideal tracking displacement force of each electric mechanical arm or electric tool head of the actuating mechanism is as follows:and the reducing force of each electric mechanical arm or electric tool head of the executing mechanism is as follows: />The method comprises the steps of carrying out a first treatment on the surface of the Adjacent two sections of electric mechanical arms or electric tool heads>And->The operating distance between them is->The method comprises the following steps: />Wherein->Is the position at equilibrium, at which time the control input to the system:
。
(4) Expanding the equation at the equilibrium point, the linearized system equation can be obtained as:
。
(5) Defining deviation correction, wherein the expression is as follows:
；
；
。
as can be seen from the above embodiments, the invention has the greatest value of reducing unsafe factors of dangerous operations, and can effectively reduce unsafe events in various dangerous operation scenes when a large number of high-altitude operations and other dangerous operations exist in various construction sites. In terms of expected benefits, the representative cost is greatly reduced due to the adoption of the existing mature technology.
The technical aspect is mainly based on the internet of things, but in terms of solving the problem, the tool is more innovative in terms of various function combinations, and the application scene of the tool is advanced, and the occurrence of danger can be reduced.
As another embodiment of the invention, for example, the automatic inspection and maintenance of more complex machine equipment can be realized by performing seamless butt joint with other robots and internet of things equipment through the main body structure.
Embodiment 2, as another embodiment of the present invention, the control method of the infrared remote control liftable multifunctional intelligent integrated maintenance tool includes: the main body structure, the remote control end and the software module are combined, so that stable and reliable operation of the equipment in the processes of inspection, maintenance, debugging and the like is ensured. As shown in fig. 4, the method can be specifically implemented according to the following steps:
s1, making operation flows and instructions for inspection, maintenance, debugging and the like;
s2, inputting relevant information into a remote control end, and sending a remote control instruction to a main body structure;
s3, the main body structure receives the instruction and performs corresponding operation;
s4, data transmission is carried out through the remote control end and the main body structure, and operations such as inspection, maintenance and debugging are completed.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
The content of the information interaction and the execution process between the devices/units and the like is based on the same conception as the method embodiment of the present invention, and specific functions and technical effects brought by the content can be referred to in the method embodiment section, and will not be described herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present invention. For specific working processes of the units and modules in the system, reference may be made to corresponding processes in the foregoing method embodiments.
The embodiment of the invention also provides a computer device, which comprises: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, which when executed by the processor performs the steps of any of the various method embodiments described above.
Embodiments of the present invention also provide a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the respective method embodiments described above.
The embodiment of the invention also provides an information data processing terminal, which is used for providing a user input interface to implement the steps in the method embodiments when being implemented on an electronic device, and the information data processing terminal is not limited to a mobile phone, a computer and a switch.
The embodiment of the invention also provides a server, which is used for realizing the steps in the method embodiments when being executed on the electronic device and providing a user input interface.
Embodiments of the present invention provide a computer program product which, when run on an electronic device, causes the electronic device to perform the steps of the method embodiments described above.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc.
Experiments show that: the invention has the main advantages that the intelligent remote control can be realized, the remote control mode can be diversified, the central control and the remote controller can be remotely controlled, and the problem that one mode fails to work is avoided.
The occurrence of danger can be reduced by the remote control, and the net bag is designed in consideration of operation waste materials and the like in the design process, so that high-altitude falling objects and the like are avoided.
The design of multiple tool heads avoids back and forth replacement, reduces time cost, wastes much time on the matters when in construction work, and achieves the purpose of the tool by being aligned at one time.
While the invention has been described with respect to what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (10)
1. An infrared remote control liftable multifunctional intelligent integrated maintenance tool, which is characterized by comprising:
the main structure (1) is provided with a sensor (101) and an executing mechanism (102), state information of equipment to be maintained is detected through the sensor (101), the state information is transmitted to a core controller (201) of the remote control end (2) through a receiving network and infrared signals, and the core controller (201) sends an operation instruction according to the state of the equipment to be maintained, and the executing mechanism (102) is regulated and controlled to perform corresponding operation;
the remote control end (2) is used for sending instructions to the main body structure (1) to realize the inspection, maintenance and debugging operations of the execution structure of the main body structure (1);
the software module (3) comprises a control software module (301) and an image processing software module (302), and the main structure (1) is subjected to debugging, configuration and upgrading operations through the control software module (301); and processing the images acquired in the inspection process through an image processing software module (302), and analyzing the fault cause of the equipment.
2. The infrared remote control liftable multifunctional intelligent integrated maintenance tool according to claim 1, wherein the sensor (101) adopts an infrared sensor to realize distance measurement.
3. The infrared remote control liftable multifunctional intelligent integrated maintenance tool of claim 1, wherein the actuator (102) comprises: a bracket (1021), an electric mechanical arm (1022), an electric tool head (1023), a miniature camera (1024), a motor (1025) and a counterweight (1028);
the bracket (1021) is used for providing stable supporting force;
the electric mechanical arm (1022) adopts a motor driving mode and performs forward, backward, ascending and descending actions through instructions transmitted by the core controller;
the electric tool head (1023) adopts a motor driving mode and performs rotation, propulsion and rotation actions through instructions transmitted by the core controller;
the miniature camera (1024) is connected with the central control screen to display a real-time picture of the electric tool head;
the motor (1025) drives the electric mechanical arm and the electric tool head to work through electric drive;
the counterweight (1028) is arranged on one side of the bracket (1021) connected with the electric mechanical arm (1022) and is used for balancing the tilting force generated by the operation action of the electric mechanical arm (1022).
4. The infrared remote control lifting multifunctional intelligent integrated maintenance tool according to claim 3, wherein the electric mechanical arm (1022) adopts a multi-section universal structure, and a motor (1025) is arranged at each joint position on the electric mechanical arm (1022) so as to realize the operation of different actions of each joint on the electric mechanical arm (1022);
the electric mechanical arm (1022) adsorbs screws from the detachable replacement net bag (1026) downwards through bending; the detachable replacement net bag (1026) is connected to a joint on the electric mechanical arm (1022);
the actuating mechanism (102) receives an operation instruction from a touch pad or an infrared remote control through the core controller (201) to drive the motor (1025) to drive the electric mechanical arm (1022) or the electric tool head (1023) to carry out an operation instruction, rotates a screw to disassemble the machine, swings up and down to open the package, and uses a wrench to carry out circular motion.
5. The infrared remote control lifting multifunctional intelligent integrated maintenance tool according to claim 1, wherein the executing mechanism (102) is further provided with an infrared correlation positioner (1027) paired with the detachable replacement net bag (1026), the infrared correlation positioner (1027) provides position information, the lower detachable replacement net bag (1026) automatically rotates according to the position information provided by the infrared correlation positioner (1027), and the center of the detachable replacement net bag (1026) is always consistent with the position of the infrared correlation positioner (1027) through the execution logic of the pre-written core controller (201); the automatic rotation comprises tightening or removing a screw;
the actuating mechanism (102) adopts a plastic handle, a plastic extension rod and an iron tool head combination.
6. The infrared remote control liftable multifunctional intelligent integrated maintenance tool of claim 1, wherein the core controller (201) comprises: a main board (2011), a programmable single chip microcomputer (2012), a network card (2013), a communication module (2014), various communication interfaces (2015) and a display screen (2016);
the main board (2011) is used for connecting various electronic components to realize the operation of the core controller;
the programmable singlechip (2012) is used for core control, and controls the motor and the external device to execute corresponding actions through data transmission instructions after programming and burning;
the network card (2013) is used for controlling the programmable singlechip to send out instructions by receiving network signals;
the communication module (2014) is used for controlling the programmable singlechip to send out instructions through a receiving network and infrared signals;
a variety of communication interfaces (2015) for firmware upgrades and interacting with external machines;
a display screen (2016) displays a picture through a video interface, and the operation instructions visualize information;
a button with an operation instruction on a display screen (2016) of the core controller (201) performs specified actions of the electric mechanical arm (1022) and the electric tool head (1023) through touching; the remote control end adopts an infrared remote controller.
7. The infrared remote control liftable multifunctional intelligent integrated maintenance tool according to claim 1, wherein the method for the core controller (201) to send out an operation command according to the state of the equipment to be maintained and regulate the execution mechanism (102) to perform corresponding operation comprises the following steps:
step 1, each electric mechanical arm or electric tool head of the executing mechanism can be regarded as an intelligent control unit with actual judging capability in a control mode, and each electric mechanical arm or electric tool head of the executing mechanism is regarded as a single operation body model, so that nodes for a multi-intelligent control unit system are formedIndicate->The intelligent control unit has the kinematic equation:
；
；
；
；
in the method, in the process of the invention,for node->Is (are) displacement (are)>For node->Is->Force of matching under displacement, ++>For node->Wherein the geometric features include size, type, shape; />For node->In a certain movement state +.>Force of displacement matching, < >>For node->At->Displacement values matched under force +.>For node->-1 rotational displacement distance of adjacent electromechanical arms or electric tool heads coupled by a universal structure, +.>For the rotational displacement distance of adjacent electromechanical arms or power tool heads coupled by a universal structure, the rotational displacement distance is a linear function with respect to the relative displacement, +.>Is the radius of the universal structure +.>For the reactive torque force to which the electric mechanical arm or the electric tool head is subjected during operation, +.>Is of elastic coefficient->For node->Is in a certain state of motion, +.>For node->Displacement of +1 in a certain motion state, +.>The basic reactive torque force is a unit basic reactive torque force, and comprises a fault reactive torque force of equipment and a normal dismounting reactive torque force of the equipment; />For constants related to the electric mechanical arm or the electric tool head section bar, < >>The force is the force of the motion state of the electric mechanical arm or the electric tool head;
step 2, selecting a first section of electric mechanical arm or electric tool head as a reference point, and obtaining a system correction equation from a motion equation, wherein the expression is as follows:
；
in the method, in the process of the invention,for a certain node->Deviation correcting displacement->For a certain node->Force after correction->Is the node ∈after correction>At->Displacement values matched under force +.>For the displacement of the node j in a certain movement state after correction, < >>For correcting the error of the node->And (3) the combination ofForce of matching under displacement, ++>The force is the force of the motion state of a current certain type r electric mechanical arm or electric tool head; />For adjacency matrix->For representing the node->And node->Intensity of the association between the two matrices +.>Topology for contact networkThe set of edges formed by the middle node pairs represents the adjacent relation among the intelligent control units and describes the information interaction contact network among the intelligent control units;
step 3, designing a consistency deviation rectifying and tracking control law, wherein the expression is as follows:
；
in the method, in the process of the invention,is the node ∈after correction>At->Displacement values matched under force +.>Is->Information exchange between displacement information of the jointed electromechanical arm or the electric tool head and ideal displacement, +.>For the displacement of the current motion state of a certain type r of electric mechanical arm or electric tool head, +.>For the control parameters to be designed, < >>Is->Information exchange between the force information of the motor-driven mechanical arm or the electric tool head and the ideal force, and +.>To represent node +.>And node->Joint strength in the exchange of strength information between +.>For node->Is->The matching force under displacement;
to ensure that the displacement and force of the electromechanical arm or the power tool head can track the ideal motion state, when the node is blocked by displacement feedback control +.>Otherwise->The method comprises the steps of carrying out a first treatment on the surface of the When node->When blocked by force feedback control +.>Otherwise->；
Step 4, for the control input:
；
in the method, in the process of the invention,for node->At->Tracking displacement value matched under force, +.>Is the instant force of the motion state of a certain type r electric mechanical arm or an electric tool head.
8. The infrared remote control liftable multifunctional intelligent integrated maintenance tool of claim 7, wherein in the step 2, the specific process of obtaining the system correction equation from the motion equation is as follows:
(1) When the electric mechanical arm or the electric tool head works, the universal structure between the electric mechanical arms or the electric tool heads of the actuating mechanism is in a natural state, and the operation distance between two adjacent sections of electric mechanical arms or electric tool heads is as follows:for +.>The positions of the section electric mechanical arm or the electric tool head are as follows:
；
in the method, in the process of the invention,is ideal displacement;
(2) The equation of motion is rewritten as:
；
(3) If the system reaches an equilibrium state, ideal tracking displacement force of each electric mechanical arm or electric tool head of the actuating mechanism is as follows:and the reducing force of each electric mechanical arm or electric tool head of the executing mechanism is as follows:the method comprises the steps of carrying out a first treatment on the surface of the Adjacent two sections of electric mechanical arms or electric tool heads>And->The operating distance between them is->The method comprises the following steps:wherein->Is the position at equilibrium, at which time the control input to the system:
；
(4) Expanding the equation at the equilibrium point, the linearized system equation can be obtained as:
；
(5) Defining deviation correction, wherein the expression is as follows:
；
；
。
9. a control method for controlling the infrared remote control liftable multifunctional intelligent integrated maintenance tool according to any one of claims 1 to 8, comprising:
s1, making inspection, maintenance and debugging operation flows and instructions;
s2, inputting relevant information into a remote control end, and sending a remote control instruction to a main body structure;
s3, the main body structure receives the instruction and performs corresponding operation;
s4, data transmission is carried out through the remote control end and the main body structure, and inspection, maintenance and debugging operations are completed.
10. The control method according to claim 9, wherein the automatic inspection and maintenance of the machine equipment is accomplished by seamless interfacing of the main structure with the robot and the internet of things equipment.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311808281.9A CN117831259A (en) | 2023-12-26 | 2023-12-26 | Infrared remote control lifting multifunctional intelligent integrated maintenance tool and control method |
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| CN202311808281.9A CN117831259A (en) | 2023-12-26 | 2023-12-26 | Infrared remote control lifting multifunctional intelligent integrated maintenance tool and control method |
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